Orientation sensor for guided operation of hydraulic torque wrench

ABSTRACT

A hydraulic torque wrench system includes an object including a plurality of fasteners and a hydraulic torque wrench. A wrench includes an orientation sensor and a controller having an electronic processor and a memory. The controller is configured to determine a desired sequence in which the wrench should tighten a plurality of fasteners on an object, receive a first measurement signal from the orientation sensor, and determine a first orientation value of the wrench based on the first measurement signal. The controller is further configured to compare the first orientation value to a first target orientation value associated with a first target orientation of the wrench for tightening a first fastener in the desired sequence, inhibit operation of the wrench if the first orientation value is not within a tolerance of the first target orientation value

RELATED APPLICATIONS

This present application claims the benefit of U.S. Patent Application No. 63/092,131, filed Oct. 15, 2020, and of U.S. Patent Application No. 63/092,188, filed Oct. 15, 2020, the entire contents of both of which are hereby incorporated by reference.

FIELD

The present disclosure relates to industrial tools and, particularly, to hydraulic torque wrenches.

SUMMARY

Industrial tools, such as hydraulic torque wrenches, use pressurized fluid to apply large torques to a workpiece (e.g., fastener, nut, etc.). In particular, hydraulic torque wrenches use pressurized fluid to apply large torques to fasteners (e.g., nut, bolts, flange joints, etc.) when tightening a fastener. In some circumstances, such as when tightening fasteners positioned around a flange joint, it may be necessary for the fasteners to be tightened in a predetermined sequence to evenly distribute a load among the fasteners.

In one independent aspect, a hydraulic torque wrench system may generally include a hydraulic torque wrench, the wrench including an orientation sensor and a controller having an electronic processor and a memory, the controller being configured to determine a sequence in which the wrench should tighten a plurality of fasteners on an object, receive a first measurement signal from the orientation sensor, determine a first orientation value of the wrench based on the first measurement signal, compare the first orientation value to a first target orientation value associated with a first target orientation of the wrench for tightening a first fastener in the sequence, inhibit operation of the wrench in response to the first orientation value not being within a tolerance of the first target orientation value, and enable the wrench to tighten the first fastener in response the first orientation value being within the tolerance of the first target orientation value.

In some aspects, the controller may further be configured to activate an indicator to alert an operator that the plurality of fasteners is not being tightened in the sequence in response to the first orientation value not being within the acceptable tolerance of the first target orientation value.

In some aspects, the controller may further be configured to receive a second measurement signal from the orientation sensor after the first fastener is tightened, determine a second orientation value of the wrench based on the second measurement signal, compare the second orientation value to a second target orientation value associated with a second target orientation of the wrench for tightening a second fastener in the sequence, inhibit operation of the wrench in response to the second orientation value not being within the tolerance of the second target orientation value, and enable the wrench to tighten the second fastener in response to the second orientation value being within the tolerance of the second target orientation value.

In some aspects, the orientation sensor may measure the orientation of the wrench with respect to gravity. In some aspects, the orientation sensor may measure the orientation of the wrench with respect to Earth's magnetic field. In some aspects, the orientation sensor may measure rotational acceleration of the wrench with respect to three mutually orthogonal axes that are fixed in relation to the wrench.

In some aspects, the sequence in which the wrench should tighten the plurality of fasteners may be stored in the memory of the controller. In some aspects, the controller may further be configured to activate an indicator to alert the operator to which fastener of the plurality of fasteners should be tightened next in the sequence.

In another independent aspect, a method may be provided for tightening a plurality of fasteners with a hydraulic torque wrench. The hydraulic torque wrench includes an orientation sensor and a controller having an electronic processor and a memory. The method may generally include determining, by the controller, a sequence in which the wrench should tighten the plurality of fasteners; receiving, by the controller, a first measurement signal from the orientation sensor; determining, by the controller, a first orientation value of the wrench based on the first measurement signal; comparing, by the controller, the first orientation value to a first target orientation value associated with a first target orientation of the wrench for tightening a first fastener in the sequence; inhibiting, by the controller, operation of the wrench in response to the first orientation value not being within a tolerance of the first target orientation value; and enabling, by the controller, the wrench to tighten the first fastener in response to the first orientation value being within the tolerance of the first target orientation value.

In some aspects, the method may further include activating, by the controller, an indicator to alert an operator that the plurality of fasteners is not being tightened in the sequence in response to the first orientation value not being within the tolerance of the first target orientation value.

In some aspects, the method may further include receiving, by the controller, a second measurement signal from the orientation sensor; determining, by the controller, a second orientation value of the wrench based on the second measurement signal; comparing, by the controller, the second orientation value to a second target orientation value associated with a second target orientation of the wrench for tightening a second fastener in the sequence; inhibiting, by the controller, operation of the wrench in response to the second orientation value not being within the tolerance of the second target orientation value; and enabling, by the controller, the wrench to tighten the second fastener in response to the second orientation value being within the tolerance of the second target orientation value.

In some aspects, receiving, by the controller, a first measurement signal may include receiving, by the controller, a first measurement signal measured by the orientation sensor with respect to gravity. In some aspects, receiving, by the controller, a first measurement signal may include receiving, by the controller, a first measurement signal measured by the orientation sensor with respect to Earth's magnetic field. In some aspects, receiving, by the controller, a first measurement signal may include receiving, by the controller, a first measurement signal measured by the orientation sensor with respect to three mutually orthogonal axes that are fixed relation to the wrench.

In some aspects, the sequence in which the wrench should tighten the plurality of fasteners may be stored in the memory of the controller. In some aspects, the method may further include activating, by the controller, an indicator to alert the operator to which fastener of the plurality of fasteners should be tightened next in the sequence.

In yet another independent aspect, a method may be provided for tightening a plurality of fasteners with a hydraulic torque wrench. The method may generally include determining, by the controller, a sequence in which the wrench should tighten the plurality of fasteners; receiving, by the controller, a first measurement signal from the orientation sensor; determining, by the controller, a first orientation value of the wrench based on the first measurement signal; comparing, by the controller, the first orientation value to a first target orientation value associated with a first target orientation of the wrench for tightening a first fastener in the sequence; activating, by the controller, an indicator to alert an operator that the plurality of fasteners is not being tightened in the sequence in response to the first orientation value not being within the tolerance of the first target orientation value; and enabling, by the controller, the wrench to tighten the first fastener in response to the first orientation value being within the tolerance of the first target orientation value.

In some aspects, the method may further include inhibiting, by the controller, operation of the wrench in response to the first orientation value not being within a tolerance of the first target orientation value.

In some aspects, the method may further include receiving, by the controller, a second measurement signal from the orientation sensor; determining, by the controller, a second orientation value of the wrench based on the second measurement signal; comparing, by the controller, the second orientation value to a second target orientation value associated with a second target orientation of the wrench for tightening a second fastener in the sequence; activating, by the controller, an indicator to alert an operator that the plurality of fasteners is not being tightened in the sequence in response to the second orientation value not being within the tolerance of the second target orientation value; and enabling, by the controller, the wrench to tighten the second fastener in response to the second orientation value being within the tolerance of the second target orientation value.

In some aspects, receiving, by the controller, a first measurement signal may include receiving, by the controller, a first measurement signal measured by the orientation sensor with respect to gravity. In some aspects, receiving, by the controller, a first measurement signal may include receiving, by the controller, a first measurement signal measured by the orientation sensor with respect to Earth's magnetic field. In some aspects receiving, by the controller, a first measurement signal may include receiving, by the controller, a first measurement signal measured by the orientation sensor with respect to three mutually orthogonal axes that are fixed in relation to the wrench.

In some aspects, the method may further include activating, by the controller, an indicator to alert the operator to which fastener of the plurality of fasteners should be tightened next in the sequence.

In a further independent aspect, a hydraulic torque wrench system may generally include a hydraulic torque wrench, the wrench including an orientation sensor and a controller having an electronic processor and a memory, the controller being configured to determine a sequence in which the wrench should tighten a plurality of fasteners on an object, receive a first acceleration measurement signal from the orientation sensor, determine a first acceleration value of the wrench based on the first acceleration measurement signal, compare the first acceleration value to a first target acceleration value associated with moving the wrench from a first fastener to a second fastener, inhibit operation of the wrench in response to the first acceleration value not being within a tolerance of the first target acceleration value, and enable the wrench to tighten the second fastener in response to the first acceleration value being within the tolerance of the first target acceleration value.

In some aspects, the controller may further be configured to determine the first target acceleration value when the wrench is moved from the first fastener to the second fastener and store the first target acceleration value in the memory.

In some aspects, the controller may further be configured to activate an indicator to alert an operator that the plurality of fasteners is not be tightened in the sequence in response to the first acceleration value not being within the tolerance of the first target acceleration value.

In some aspects, the controller may further be configured to receive a second acceleration measurement signal from the orientation sensor after the second fastener is tightened and determine a second acceleration value of the wrench based on the second acceleration measurement signal, compare the second acceleration value to a second target acceleration value associated with moving the wrench from the second fastener to a third fastener, inhibit operation of the wrench in response to the second acceleration value not being within a tolerance of the second target acceleration value, and enable the wrench to tighten the third fastener in response to the second acceleration value being within the tolerance of the second target acceleration value.

In some aspects, the controller may further be configured to determine the second target acceleration value when the wrench is moved from the second fastener to the third fastener and store the second target acceleration value in the memory.

In another independent aspect, a method may be provided for tightening a plurality of fasteners with a hydraulic torque wrench. The method may generally include determining, by the controller, a sequence in which the wrench should tighten the plurality of fasteners; receiving, by the controller, a first acceleration measurement signal from the orientation sensor; determining, by the controller, a first acceleration value of the wrench based on the first acceleration measurement signal; comparing, by the controller, the first acceleration value to a first target acceleration value associated with moving the wrench from a first fastener to a second fastener; inhibiting, by the controller, operation of the wrench in response to the first acceleration value not being within a tolerance of the first target acceleration value; and enabling, by the controller, the wrench to tighten the second fastener in response to the first acceleration value being within the tolerance of the first target acceleration value.

In some aspects, the method may further include determining, by the controller, the first target acceleration value when the wrench is moved from the first fastener to the second fastener and storing, by the controller, the first target acceleration value in the memory.

In some aspects, the method may further include activating, by the controller, an indicator to alert an operator that the plurality of fasteners is not being tightened in the sequence in response to the first acceleration value not being within the tolerance of the first target acceleration value.

In some aspects, the method may further include receiving, by the controller, a second acceleration measurement signal from the orientation sensor; determining, by the controller, a second acceleration value of the wrench based on the second acceleration measurement signal; comparing, by the controller, the second acceleration value to a second target acceleration value associated with moving the wrench from the second fastener to a third fastener; inhibiting, by the controller, operation of the wrench in response to the second acceleration value not being within a tolerance of the second target acceleration value; and enabling, by the controller, the wrench to tighten the third fastener in response to the second acceleration value being within the tolerance of the second target acceleration.

In some aspects, the method may further include determining, by the controller, the second target acceleration value when the wrench is moved from the second fastener to the third fastener and storing, by the controller, the second target acceleration value in the memory.

In yet another independent aspect, a method may be provided for tightening a plurality of fasteners with a hydraulic torque wrench. The method may generally include determining, by the controller, a sequence in which the wrench should tighten the plurality of fasteners, receiving, by the controller, a first acceleration measurement signal from the orientation sensor; determining, by the controller, a first acceleration value of the wrench based on the first acceleration measurement signal; comparing, by the controller, the first acceleration value to a first target acceleration value associated with moving the wrench from a first fastener to a second fastener; activating, by the controller, an indicator to alert an operator that the plurality of fasteners is not being tightened in the sequence in response to the first acceleration value not being within the tolerance of the first target acceleration value; and enabling, by the controller, the wrench to tighten the second fastener in response to the first acceleration value being within the tolerance of the first target acceleration value.

In some aspects, the method may further include determining, by the controller, the first target acceleration value when the wrench is moved from the first fastener to the second fastener and storing, by the controller, the first target acceleration value in the memory.

In some aspects, the method may further include receiving, by the controller, a second acceleration measurement signal from the orientation sensor; determining, by the controller, a second acceleration value of the wrench based on the second acceleration measurement signal; comparing, by the controller, the second acceleration value to a second target acceleration value associated with moving the wrench from the second fastener to a third fastener; activating, by the controller, an indicator to alert an operator that the plurality of fasteners is not being tightened in the sequence in response to the second acceleration value not being within the tolerance of the second target acceleration value, and enabling, by the controller, the wrench to tighten the third fastener in response to the second acceleration value being within the tolerance of the second target acceleration.

In some aspects, the method may further include determining, by the controller, the second target acceleration value when the wrench is moved from the second fastener to the third fastener and storing, by the controller, the second target acceleration value in the memory

Other independent aspects may become apparent by consideration of the detailed description, claims and accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a side view of a hydraulic torque wrench.

FIG. 2 is a block diagram of a control system of the wrench of FIG. 1 .

FIG. 3 illustrates the wrench of FIG. 1 oriented with respect to a reference coordinate system.

FIG. 4 is a perspective view of the wrench of FIG. 1 arranged in various orientations around a flange.

FIG. 5 is a schematic view of a flange.

FIG. 6 is a perspective view of the wrench of FIG. 1 arranged in various orientations around the flange of FIG. 5 .

FIG. 7 is a flowchart illustrating a process or operation of the wrench of FIG. 1 .

DETAILED DESCRIPTION

Before any independent embodiments are explained in detail, it is to be understood that the disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the following drawings. The disclosure is capable of other independent embodiments and of being practiced or of being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting.

Use of “including” and “comprising” and variations thereof as used herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Use of “consisting of” and variations thereof as used herein is meant to encompass only the items listed thereafter and equivalents thereof. Unless specified or limited otherwise, the terms “mounted,” “connected,” “supported,” and “coupled” and variations thereof are used broadly and encompass both direct and indirect mountings, connections, supports, and couplings.

Relative terminology, such as, for example, “about”, “approximately”, “substantially”, etc., used in connection with a quantity or condition would be understood by those of ordinary skill to be inclusive of the stated value and has the meaning dictated by the context (for example, the term includes at least the degree of error associated with the measurement of, tolerances (e.g., manufacturing, assembly, use, etc.) associated with the particular value, etc.). Such terminology should also be considered as disclosing the range defined by the absolute values of the two endpoints. For example, the expression “from about 2 to about 4” also discloses the range “from 2 to 4”. The relative terminology may refer to plus or minus a percentage (e.g., 1%, 5%, 10% or more) of an indicated value.

In addition, it should be understood that embodiments may include hardware, software, and electronic components or modules that, for purposes of discussion, may be illustrated and described as if the majority of the components were implemented solely in hardware. However, one of ordinary skill in the art, and based on a reading of this detailed description, would recognize that, in at least one embodiment, the electronic-based aspects may be implemented in software (e.g., stored on non-transitory computer-readable medium) executable by one or more processing units, such as a microprocessor and/or application specific integrated circuits (“ASICs”). As such, it should be noted that a plurality of hardware and software based devices, as well as a plurality of different structural components, may be utilized to implement the embodiments. For example, “servers” and “computing devices” described in the specification can include one or more processing units, one or more computer-readable medium modules, one or more input/output interfaces, and various connections (e.g., a system bus) connecting the components.

Also, the functionality described herein as being performed by one component may be performed by multiple components in a distributed manner. Likewise, functionality performed by multiple components may be consolidated and performed by a single component. Similarly, a component described as performing particular functionality may also perform additional functionality not described herein. For example, a device or structure that is “configured” in a certain way is configured in at least that way but may also be configured in ways that are not listed.

FIG. 1 illustrates an industrial tool, such as a hydraulic torque wrench 100 for applying torque to a workpiece or fastener. The illustrated wrench 100 includes a cassette or housing 105 having a coupling interface 110 configured to engage a drive unit 115 for actuating a drive element 120 (e.g., socket 120).

In addition, the wrench 100 includes a reaction portion 125. In the illustrated construction, the reaction portion 125 is integrally formed with housing 105. In some constructions (not shown), the reaction portion 125 is removably attached to the housing 105. The housing 105 may be constructed of metal (e.g., steel), a durable and light-weight plastic material, a combination thereof, etc.

The drive element 120 is supported by the housing 105 and is driven by a drive system 130 disposed within housing 105. In the illustrated construction, the drive element 120 is a socket operable to receive a workpiece (e.g., a fastener) to apply torque to the workpiece; in other constructions, the drive element 120 may include a drive shaft operable to be positioned within an opening of a workpiece to apply torque to the workpiece. In some constructions, the drive system 130 includes a ratcheting lever arm for engaging and rotating the socket 120. The lever arm is driven by a working end of a fluid actuator on the drive unit 115. The fluid actuator is in fluid communication by fluid hoses 135 with an external source of pressurized fluid (e.g., a hydraulic pump—not shown) and may include a piston. For illustrative purposes, operation of the torque wrench 100 will be described with respect to a drive unit 115 that includes one fluid actuator; however, it is understood that the drive unit 115 may include more pistons, additional fluid actuators, and/or additional lever arms. The piston is moveable between an extended position and a retracted position due to the pressurized fluid, and movement of the piston drives the working end.

FIG. 2 is a block diagram of a control system 200 of the wrench 100 according to some constructions. The control system 200 includes a controller 205, which may be mounted on a printed circuit board (PCB) disposed within housing 105 of the wrench 100. The controller 205 is electrically and/or communicatively connected to a variety of modules or components of the wrench 100. For example, the controller 205 is connected to a user-interface 210, a hydraulic pressure source or pump 215, a power supply 220, an orientation sensor 225, and one or more additional sensors 230.

In some constructions, the controller 205 includes a plurality of electrical and electronic components that provide power, operational control, and protection to the components and modules within the controller 205 and/or the torque wrench 100. For example, the controller includes, among other things, an electronic processor 235 and a memory 240.

The memory 240 includes, for example, a program storage area and a data storage area. The program storage area and the data storage area can include combinations of different types of memory, such as read-only memory (ROM) and random access memory (RAM).

Various non-transitory computer readable media, for example, magnetic, optical, physical, or electronic memory may be used. The electronic processor 235 is communicatively coupled to the memory 240 and executes software instructions that are stored in the memory 240, or stored in another non-transitory computer readable medium such as another memory or a disc. The software may include one or more applications, program data, filters, rules, one or more program modules, and other executable instructions.

The user-interface 210 is configured to receive input from a user and/or output information to the user concerning the wrench 100. The user-interface 210 may include a power switch for controlling flow of pressurized fluid from the hydraulic pump 215 to the wrench 100. In other constructions, the user-interface 210 includes, in addition to or in lieu of a power switch, a display (for example, a primary display, a secondary display, etc.) and/or input devices (for example, touch-screen displays, a plurality of knobs, dials, switches, buttons, etc.). The display may be, for example, a liquid crystal display (“LCD”), a light-emitting diode (“LED”) display, an organic LED (“OLED”) display, an electroluminescent display (“ELD”), a surface-conduction electron-emitter display (“SED”), a field emission display (“FED”), a thin-film transistor (“TFT”) LCD, etc. In some constructions, the user-interface 210 is a pendant. In other constructions, the user-interface is a remote device such as a smartphone, a tablet, etc.

The user-interface 210 may further include an indicator (not shown) configured to display conditions of, or information associated with, the wrench 100. The indicator may be further configured to alert a user to a change in the condition of the wrench 100 (e.g., in response to the hydraulic torque wrench being improperly oriented). In some constructions, the indicator may include one or more lights (for example, light emitting diodes), varying in color and orientation. In some constructions, the indicator may include elements to convey information to a user through audible or tactile outputs (for example, a speaker and/or vibration motor).

The power supply 220 is configured to supply power to the controller 205 and/or other components of the control system 200. In some constructions, the power supply 220 receives power from an internal power source (e.g., a coin cell battery, battery cell, or battery pack) and provides regulated power to the controller 205 and/or other components of the control system 200. In some constructions, the power supply 220 may include DC-DC converters, AC-DC converters, DC-AC converters, and/or AC-AC converters. In other constructions, the power supply 220 may receive power from an AC power source (for example, an AC power outlet).

The orientation sensor 225 is configured to sense a position or orientation of the wrench 100. The orientation sensor 225 may be mounted on a PCB or some other surface disposed within housing 105 of the wrench 100. In some constructions, the orientation sensor 225 is implemented as an accelerometer, such as a 6-axis accelerometer, which includes an accelerometer and a gyroscope. In some constructions, the orientation sensor is implemented as a 9-degrees of freedom (9-DOF) sensor, which includes an accelerometer, a gyroscope, and a magnetometer (e.g., a compass).

The accelerometer included in orientation sensor 225 is configured to measure acceleration in three axes (e.g., the x-axis, y-axis, and z-axis). In particular, the orientation sensor 225 is configured to sense an acceleration measurement on the x-axis, A_(x), an acceleration measurement on the y-axis, A_(y), and an acceleration measurement on the z-axis, A_(z). The acceleration measurement axes are fixed in relation to the wrench 100, and gravity is fixed in relation to an object (e.g., a flange) being operated on by the wrench 100. Furthermore, when the wrench 100 is stationary (for example, when the wrench 100 is set in position to tighten a flange joint), the only acceleration force acting on the wrench 100 measured by the orientation sensor 225 is the force of gravity. Therefore, the three acceleration measurements taken by the orientation sensor 225 may be used by the controller 205 to calculate the orientation of the wrench 100 with respect to gravity. The controller 205 is configured to receive the acceleration measurements A_(x), A_(y), and A_(z), from the orientation sensor 225 and calculate a tilt, or orientation value, of the wrench 100 based on the received acceleration measurements.

The calculated orientation value of the wrench 100 comprises three angular components, rho, phi, and theta, which represent rotations about the native, or reference, coordinate system with respect to gravity and the workpiece. In particular, rho is the angle of rotation about the reference x-axis, phi is the angle of rotation about the reference y-axis, and theta is the angle of rotation about the reference z-axis. The controller 205 is configured to employ Equations 1-3 below to calculate the angular components rho, phi, and theta incorporated in the orientation value, which is representative of the orientation of the wrench 100.

$\begin{matrix} {{rho} = {{arc}\tan\left( \frac{A_{x}}{\sqrt{A_{y}^{2} + A_{z}^{2}}} \right)}} & {{Equation}1} \end{matrix}$ $\begin{matrix} {{phi} = {{arc}\tan\left( \frac{A_{y}}{\sqrt{A_{x}^{2} + A_{z}^{2}}} \right)}} & {{Equation}2} \end{matrix}$ $\begin{matrix} {{theta} = {{arc}\tan\left( \frac{\sqrt{A_{y}^{2} + A_{z}^{2}}}{A_{z}} \right)}} & {{Equation}3} \end{matrix}$

FIG. 3 illustrates the wrench 100 oriented with respect to a natural or reference coordinate system 300 (solid black axes). Also illustrated are acceleration measurement axes 305 (dashed lined), which represent the acceleration measurement axes sensed by the orientation sensor 225 and fixed in relation to the wrench 100. As shown, a rotation angle rho 310 is defined between the x-axes of reference coordinate system 300 and acceleration measurement axes 305. Likewise, a rotation angle phi 315 is defined between the y-axes of reference coordinate system 300. Similarly, a rotation angle theta 320 is defined between the z-axes of reference coordinate system 300 and acceleration measurement axes 305. As described above, controller 205 is configured to receive acceleration measurements A_(x), A_(y), and A_(z) taken along the acceleration measurement axes 305. Using the received measurements A_(x), A_(y), and A_(z) and Equations 1-3 listed above, the controller 205 can calculate the angular components rho 310, phi 315, and theta 320, incorporated in the orientation value of wrench 100.

In addition, as described above, the orientation sensor 225 also includes a gyroscope configured to sense rotational acceleration of the wrench 100 with respect to the three mutually orthogonal axes 305, which are fixed in relation to the wrench 100. In some aspects, the gyroscope measurements may be used in addition to or in lieu of accelerometer measurements when the controller 205 calculates an orientation value of the wrench 100.

FIG. 4 illustrates an object such as flange 400, which includes a plurality of flange joints 405. A flange joint 405 may be composed of, for example, a nut threaded on a bolt to secure the flange 400.

FIG. 4 further illustrates the wrench 100 arranged at four different positions around the flange 400. At each position around the flange, the wrench 100 is respectively arranged in a unique orientation 410A-410D. That is, when arranged at the first position, the wrench 100 is oriented in a first orientation 410A. Likewise, when arranged at the second position 410B, the third position 410C, and the fourth position 410D, the wrench 100 is respectively oriented in a second orientation 410B, a third orientation 410C, and a fourth orientation 410D. The respective orientations 410A-410D of wrench 100 are represented by respective sets of acceleration measurement axes (blue x-axis, green y-axis, and red z-axis). A reference coordinate system 415 (blue x-axis, green y-axis, and red z-axis) is defined with respect the flange 400 and gravity.

Although the below example is described with respect to the wrench 100 in relation to the flange 400, it should be understood that the below description may be applied to the use of wrench 100 with any object operated on by the wrench 100. As illustrated in FIG. 4 , the wrench 100 is oriented in the first orientation 410A while flange joint 405A is engaged with the socket 120. Prior to tightening flange joint 405A, the wrench 100 is arranged in the first orientation 410A such that the joint 405A is engaged with the socket 120, and the reaction portion 125 is engaged with the flange joint 405B. This particular orientation of the wrench 100 (the first orientation 410A) prevents improper movement of the wrench housing 105 when the fluid actuator included in drive unit 115 is actuated.

When the tool operator enables pressurized fluid to actuate the fluid actuator of drive unit 115, the socket 120 is driven to rotate in a first direction (e.g., clockwise), thus tightening the flange joint 405A positioned within the socket 120. The application of torque to the socket 120 results in a reactionary force applied on the wrench housing 105 in a second direction (e.g., counterclockwise) opposite to the first direction of rotation (e.g., clockwise) of the socket 120.

If the reaction portion 125 of the wrench 100 is not properly seated against a reaction surface (for example, illustrated in FIG. 4 as a surface of an adjacent flange joint 405B) prior to activation of the hydraulic pump 215, the housing 105 of the wrench 100 will rotate in the second direction (e.g., counterclockwise). This undesired rotation of the torque wrench 100 may result in damage to the operator (e.g., pinched fingers, broken hand, etc.) or to the wrench 100.

By seating the reaction portion 125 of the wrench 100 against the flange joint 405B, the undesired rotation of the torque wrench housing 105 is inhibited. Therefore, the first orientation 410A of the wrench 100 is the desired, or predetermined, orientation at which the wrench 100 should be oriented when tightening flange joint 405A. Moreover, if the wrench 100 is not oriented in the first orientation 410A, the wrench 100 may not be capable of safely and effectively tightening flange joint 405A.

To help prevent damage caused by undesired rotation of the wrench 100, the controller 205 may be configured to determine whether the wrench 100 is oriented in the first orientation 410A prior to tightening the flange joint 405A. Using the methods described above, the controller 205 is operable to calculate an orientation value associated with the first orientation 410A of the wrench 100. The calculated orientation value associated with the first orientation 410A of the wrench 100, also referred to as the “first target orientation value,” is stored in memory 240 of the controller 205 for future use. For example, if controller 205 determines that an operator desires to tighten the flange joint 405A (this determination may be made automatically or in response to a program selection made by an operator using user-interface 210 of the wrench 100), the controller 205 may compare the first target orientation value stored in memory 240 to a present orientation value of the wrench 100 prior to tightening the flange joint 405A.

The controller 205 may calculate, based on new measurements received from the orientation sensor 225, an orientation value representative of the present orientation of the wrench 100 prior to tightening flange joint 405A. The calculated orientation value representative of the present orientation of the wrench 100, hereinafter referred to as “calculated orientation value,” is compared to the first target orientation value stored in memory 240.

If the controller 205 determines that the calculated orientation value of the wrench 100 is within an acceptable tolerance (e.g., 1%) of the first target orientation value prior to tightening flange joint 405A, the controller 205 determines that the wrench 100A is properly oriented in the first orientation 410A. In response, the controller 205 may enable the wrench 100 to tighten flange joint 405A.

If the controller 205 determines that the calculated orientation value of the wrench 100 is not within an acceptable tolerance of the first target orientation value, the controller 205 determines that the wrench 100 is not properly oriented in the first orientation 410A. In response, the controller 205 may inhibit operation of the wrench 100. The controller 205 may be further configured to alert an operator of the wrench 100 to the improper orientation using an indicator included in user-interface 210.

The controller 205 may compare the calculated orientation value of the wrench 100 to the first target orientation value by determining differences between respective angular components that respectively make up the calculated orientation value and the first target orientation value. In particular, the first target orientation value comprises the following angular component values: first target rho, first target phi, and first target theta. Similarly, the calculated orientation value comprises the following angular component values: calculated rho, calculated phi, and calculated theta.

When comparing the calculated orientation value to the first target orientation value, the controller 205 calculates a difference between the calculated rho value and the first target rho value. If the difference between the calculated rho value and the first target rho value exceeds a difference threshold, the controller 205 determines that the calculated orientation value of the wrench 100 is not within an acceptable tolerance of the first target orientation value. Likewise, if a calculated difference between the calculated phi value and the first target phi value and/or a calculated difference between the calculated theta value and the first target theta value exceeds the difference threshold, the controller 205 determines that the calculated orientation value of the wrench 100 is not within the acceptable tolerance of the first target orientation value. However, if none of the respective differences between the calculated angular component values and the first target angular component values exceeds the difference threshold, the controller 205 determines that the calculated orientation value of the wrench 100 is within the acceptable tolerance of the first target orientation value.

As an example, it will be assumed that the flange 400 is oriented at 45 degrees with respect to the vertical or z-axis of the reference coordinate system 415. Furthermore, it will be assumed that the y-axis representative of the first orientation 410A of the wrench 100 is horizontal with respect to the reference coordinate system 415. The acceleration measurements A_(x), A_(y), and A_(z) measured by the orientation sensor 225 while the wrench 100 is oriented in the first orientation 410A are respectively equal to 6.94 m/s², 0 m/s², and 6.94 m/s². One skilled in the art will appreciate that the values for A_(x), A_(y), and A_(z) were calculated based on the above noted assumptions, a known value of the force of gravity (9.81 m/s²), and basic trigonometric relationships.

Accordingly, using Equations 1-3 and the acceleration measurements received from the orientation sensor 225, the controller 205 determines that the angular components first target rho, first target phi, and first target theta are respectively equal to 0 degrees, 45 degrees, and 45 degrees. Thus, in this example, the first target orientation value comprises a first target rho value equal to 0 degrees, a first target phi value equal to 45 degrees, and a first target theta value equal to 45 degrees. Said first target orientation value is stored in memory 240 of controller 205 as being associated with the first target, or predetermined, orientation 410A of the wrench 100 for tightening flange joint 405A. If the controller 205 of the wrench 100 determines that an operator desires to tighten the flange joint 405A (again, this determination may be made automatically or in response to a program selection made by an operator using user-interface 210 of the wrench 100), the controller 205 may calculate a calculated orientation value of the wrench 100 and compare the calculated orientation value to the first target orientation value stored in memory 240.

For example, if the wrench 100 is oriented in the second orientation 410B when an operator desires to tighten the flange joint 405A, the controller 205 will calculate the present, or calculated, orientation value of the wrench 100. In this case, the calculated orientation value would comprise a calculated rho value equal to 45 degrees, a calculated phi value equal to 0 degrees, and a calculated theta value equal to 45 degrees. Accordingly, when comparing this calculated orientation value of the wrench 100 to the first target orientation value stored in memory 240, the controller 205 will determine that the difference between the calculated rho value and the first target rho value exceeds the difference threshold. Likewise, the controller 205 will determine that the difference between the calculated phi value and the first target phi value exceeds the difference threshold (e.g., 1%). Furthermore, the controller 205 will determine that the calculated orientation value is not within an acceptable tolerance of the first target orientation value associated with the first target orientation 410A of the wrench 100 for tightening flange joint 405A. Therefore, the controller 205 may inhibit operation of the drive unit 115 and/or alert the operator of the wrench 100 to the improper orientation using an indicator included in user-interface 210.

Although the above example is particularly described with reference to the first target orientation 410A of the wrench 100 for tightening flange joint 405A, it should be understood that the above described orientation determinations may generally be applied to a wrench 100 tightening any fastener on an object.

Moreover, for every fastener on an object that is to be tightened by a wrench 100, there is a corresponding target orientation and, thus, an orientation value at which the wrench 100 should be oriented. For example, if the wrench 100 is being used to tighten a flange that includes sixteen flange joints, sixteen target orientation values associated with desired, or target, orientations of the wrench 100 when tightening each of the respective sixteen flange joints may be stored in memory 240 of the controller 205. Thus, the controller 205 may be configured to determine whether the wrench 100 is oriented in a target orientation for tightening a first one of the sixteen flange joints by comparing the calculated orientation value of the wrench 100 to the first target orientation value stored in memory 240. In this example, the first target orientation value stored in memory 240 is associated with the target orientation of the wrench 100 for tightening the first one of the sixteen flange joints.

Similarly, the controller 205 may be configured to determine whether the wrench 100 is oriented in a target orientation for tightening a second one of the sixteen flange joints by comparing the calculated orientation value of the wrench 100 to a second target orientation value stored in the memory 240. In this example, the second target orientation value stored in memory 240 is associated with the target orientation of the wrench 100 for tightening the second one of the sixteen flange joints. Likewise, the controller 205 may further be configured to compare the calculated orientation value of the wrench 100 to target orientation values associated with target orientations of the torque wrench 100 for tightening the remaining ones of the sixteen flange joints.

When a wrench 100 is used to tighten a flange, the flange joints should be tightened in a desired pattern or sequence to, for example, evenly distribute a load around the flange, ensure a leak-free joint, etc. For example, if a flange is used to cap the end of a pipe, an operator of the wrench 100 should tighten the flange joints in a particular, or correct, sequence to seal the flange. However, if the operator of the wrench 100 fails to follow the particular sequence when tightening the flange joints, fluid may leak from the flange joints after the flange is tightened.

Using the above described methods for determining whether a wrench 100 is properly oriented prior to tightening a particular fastener, it may be possible for the controller 205 of the wrench 100 to determine whether the flange joints are being tightened in a particular sequence. Furthermore, it may be possible for the controller 205 to indicate to a user, using a display or some other indicator on the user-interface 200, which flange joint is to be tightened next in the sequence by the wrench 100. Even further still, it may be possible for the controller 205 to inhibit operation of the wrench 100 if the controller 205 determines that the wrench 100 is not oriented in the target orientation for tightening the next fastener in the sequence.

FIG. 5 illustrates an exemplary flange 500 with joints 505 to be tightened by the wrench 100. As illustrated, the flange 500 includes eight flange joints 505A-505H arranged around its circumference. Although the below description of the orientation sensor guided operation of the wrench 100 is provided with respect to flange 500, persons skilled in the art will appreciate that the wrench 100 may be used to tighten a flange having any number of flange joints. For example, the wrench 100 may be used to tighten flanges that include four, eight, twelve, sixteen, or any other number of flange joints.

As indicated by arrows in FIG. 5 , an operator may desire (or may be required) to follow a particular sequence when tightening the flange joints 505A-505H to ensure a leak-free joint and evenly distribute a load around the perimeter of the flange 500. In the illustrated construction, the flange joint 505A should be tightened first, followed in sequence by the second flange joint 505B, the third flange joint 505C, the fourth flange joint 505D, the fifth flange joint 505E, the sixth flange joint 505F, the seventh flange joint 505G, and, finally, the eighth flange joint 505H. This particular sequence of tightening flange joints 505A-505H may be stored in memory 240 of the controller 205A in association with a “tighten flange 500” program. In other constructions, a particular sequence for tightening flanges having fewer or more flange joints may be stored in the memory 240.

In addition, as described above with respect to the orientation of the wrench 100 when tightening the flange joints 405 of the flange 400, the wrench 100 should be oriented in a target orientation 515 (shown in FIG. 6 ) when tightening each of the flange joints 505A-505H. A target orientation of the wrench 100 is represented by a corresponding target orientation value, which comprises angular components target rho, target phi, and target theta. Accordingly, the target orientation values of the wrench 100 associated with tightening the flange joints 505A-505H may also be stored in memory 240 of the controller 205A in association with the “tighten flange 500” program. When executing the “tighten flange 500” program, the controller 205 is operable to determine with which flange joint 505A-505H the wrench 100 is engaged by determining a calculated orientation value of the wrench 100. Furthermore, the controller 205 is operable to determine whether the flange joints 505A-505H are being tightened in the correct sequence based on the calculated orientation of the wrench 100.

For example, as shown in FIG. 6 , the wrench 100 should be oriented in a first target orientation 515A (represented in part by acceleration measurement axes x, y, and z) when tightening the flange joint 505A. When the wrench 100 is oriented in the first target orientation 515A, the flange joint 505A is engaged by socket 120 and the reaction portion 125 is seated against the flange joint 505H. A first target orientation value that corresponds to the first target orientation 515A may be stored in memory 240 of the controller 205 in association with a tightening operation of the flange joint 505A. Therefore, the controller 205 may determine whether the wrench 100 is oriented in the first target orientation 515A prior to enabling operation of the wrench 100.

Likewise, the wrench 100 should be oriented in a second target orientation 515B when tightening flange joint 505B. A second target orientation value that corresponds to the second target orientation 515B may be stored in memory 240 of the controller 205 in association with a tightening operation of the flange joint 505B. Similarly, target orientation values that correspond to target orientations 515C-515H of the wrench 100 may be stored in association with respective tightening operations of the flange joints 505C-505H.

As a further example, it will be assumed that an operator of the wrench 100 selects, using the user interface 210, to execute a “tighten flange 500” program stored in memory 240 of the controller 205. When executing the “tighten flange 500” program, the controller 205 will first determine whether a present, calculated orientation value of the wrench 100 is within an acceptable tolerance (e.g., 1%) of the first target orientation value, which corresponds to the first target orientation 515A of hydraulic torque wrench for tightening flange joint 505A.

In some constructions, the controller 205 may indicate to the operator, using an indicator or display of user-interface 210, which flange joint 505A-505H should be tightened next in the sequence. In this example, because the sequence is just beginning, the controller 205 would indicate that flange joint 505A should be tightened next. If the calculated orientation value of the wrench 100 is within the acceptable tolerance of the first target orientation value, the controller 205 enables the wrench 100 to tighten flange joint 505A.

However, if the calculated orientation value of the wrench 100 is not within the acceptable tolerance of the first target orientation value, the controller 205 determines that that flange joints 505A-505H are being tightened out of sequence. Accordingly, controller 205 may inhibit operation of the wrench 100 to prevent a flange joint from be tightened out of sequence.

The controller 205 may be further configured to alert the operator, using an indicator or display of user-interface 210, that the flange joints 505A-505H are being tightened out of sequence. For example, the alert may comprise activating a speaker of the user-interface 210 or displaying a text prompt, on an indicator or display of the user-interface 210, that indicates which flange joint 505 should be tightened next in the sequence. As another example, the controller 205 may illuminate an LED indicator that corresponds to which flange joint 505 should be tightened next.

In some constructions, the controller 205 may not inhibit operation of the wrench 100 if the flange joints 505A-505H are being tightened out-of-sequence. Rather, the controller 205 may alert the tool operator to the occurrence of the out-of-sequence tightening.

After controller 205 enables the wrench 100 to tighten flange joint 505A, the controller 205 determines whether the operator has moved the wrench 100 to the next flange joint 505 to be tightened in the sequence, namely, the flange joint 505B. In some constructions, the controller 205 may indicate to the operator, using an indicator or display of user-interface 210, that flange joint 505B should be tightened next in the sequence.

Similar to the description provided above, the controller 205 determines whether a calculated orientation value of the wrench 100 is within an acceptable tolerance of the second target orientation value, which corresponds to the second target orientation 515B of hydraulic torque wrench for tightening the flange joint 505B. If the calculated orientation value of the wrench 100 is within the acceptable tolerance of the second target orientation value, the controller 205 enables the wrench 100 to tighten the flange joint 505B.

However, if the present orientation value of the wrench 100 is not within the tolerance of the second target orientation value, the controller 205 determines that the flange joints 505A-505H are being tightened out of sequence. Accordingly, controller 205 may inhibit operation of the wrench 100 from operating to prevent a flange joint from being tightened out of sequence.

The controller 205 may further be configured to alert the operator, using an indicator or display of user-interface 210, that flange joints 505A-505H are being tightened out of sequence. While executing the “tighten flange 500” program, controller 205 repeats this process until all of the flange joints 505A-505H have been tightened in the correct sequence.

In some instances, such as when the wrench 100 is operating on a flange oriented in a horizontal plane, it may be difficult for controller 205 to determine an orientation of the wrench 100 with respect to gravity. In some constructions, the controller 205 may instead be configured to determine orientation of the wrench 100 with respect to another reference, such as the Earth's magnetic field.

The controller 205 can determine an orientation of the wrench 100 with respect to the Earth's magnetic field based on measurements received from a built-in magnetic compass or magnetometer included in orientation sensor 225. Furthermore, the controller 205 may be configured to store, in memory 240, desired magnetic field-based orientation values associated with each target orientation of the wrench 100 for tightening flange joints on a horizontal flange. Accordingly, using the target magnetic field-based orientation values stored in memory 240 and the methods described above with respect to determining whether the wrench 100 is tightening a flange in the correct sequence, the controller 205 may be configured to determine whether the wrench 100 is tightening the flange joints on a horizontal flange in the correct sequence.

In some constructions, the controller 205 may be configured to determine whether the wrench 100 is tightening a flange in the correct sequence by tracking motion of the wrench 100 from one flange joint to the next flange joint in the correct sequence.

For example, with reference to flange 500 illustrated in FIG. 5 , the controller 205 may be configured to learn the particular sequence in which the flange joints 505A-505H should be tightened. The controller 205 may learn the particular sequence for tightening the flange joints 505A-505H by tracking accelerometer measurements A_(x), A_(y), and A_(z) and/or gyroscope measurements associated with the motion of the wrench 100 as the wrench 100 is moved between the flange joints 505A-505H.

In particular, the controller 205 may be configured to receive a first set of accelerometer measurements and/or a first set of gyroscope measurements from orientation sensor 225 when the wrench 100 is moved from the flange joint 505A to the flange joint 505B. Likewise, the controller 205 may be configured to receive a second set of accelerometer measurements and/or a second of gyroscope measurements from the orientation sensor 225 when the wrench 100 is moved from the flange joint 505B to the flange joint 505C and so on during movement between flange joints 505C-505H.

Accordingly, the controller 205 may store the learned sets of acceleration measurements received from the orientation sensor 225, which correspond to the arrows illustrated in FIG. 5 , in the memory 240. For example, the learned sets of acceleration measurements may be stored in association with a path travelled by the wrench 100 when executing a “tighten flange 500” program.

When executing the “tighten flange 500” program, the controller 205 may be configured to determine whether an operator is tightening the flange joints 505A-505H in the correct sequence by comparing present accelerometer readings received from the wrench 100 to the learned sets of accelerometer measurements stored in the memory 240. For example, after wrench 100 tightens the first flange joint in the sequence, flange joint 505A, the controller 205 may be configured to track the movement of the wrench 100 to determine whether the wrench 100 is moved from the first flange joint 505A to the next flange joint in the sequence, the second flange joint 505B.

In particular, the controller 205 may be configured to receive present, or current, values of the acceleration measurements A_(x), A_(y), and A_(z) from orientation sensor 225 and compare the present values of A_(x), A_(y), and A_(z) to the learned set of acceleration measurements associated with moving the wrench 100 from the flange joint 505A to 505B. If the present values of acceleration measurements A_(x), A_(y), and A_(z) of the wrench 100 are not within an acceptable tolerance of the learned, or target, set of acceleration measurements associated with moving the wrench 100 from the flange joint 505A to 505B, the controller 205 may determine that the operator is not tightening flange 500 in the correct sequence. Accordingly, the controller 205 may be configured to inhibit operation of the wrench 100 and/or alert the operator to the out-of-sequence tightening using any of the methods described above.

FIG. 7 is a flowchart illustrating a process, or operation, 700 for tightening an object having plurality of fasteners with a wrench 100. It should be understood that additional steps may be added and not all of the steps may be required in the process.

The illustrated process 700 begins with the controller 205 determining a particular sequence in which the wrench 100 should tighten the plurality of fasteners (block 705). The controller 205 receives a first measurement signal from the orientation sensor 225 (block 710). The controller 205 determines a first orientation value of the wrench 100 based on the first measurement signal received from the orientation sensor 225 (block 715).

The controller 205 compares the first orientation value to a first target orientation value associated with a first target orientation of the wrench 100 for tightening a first fastener in the correct sequence (block 720). The controller 205 inhibits operation of the wrench 100 in response to the first orientation value not being within an acceptable tolerance of the first target orientation value (block 725). The controller 205 enables the hydraulic torque wrench to tighten the first fastener in response the first orientation value is within the acceptable tolerance of the first target orientation value (block 730).

As described in U.S. Patent Application No. 63/092,188 and in PCT Patent application Ser. No. ______, filed Oct. 15, 2021, entitled “Hazard Detection for Torque Wrench”, which is hereby incorporated by reference, the control system 200 (e.g., including the controller 205, the sensors 225, 230) may be employed to control other operations or functions of the wrench 100, such as, for example, pinch hazard detection for the wrench 100.

Thus, the application may provide, among other things, orientation sensor guided operation of a hydraulic torque wrench.

The embodiment(s) described above and illustrated in the figures are presented by way of example only and are not intended as a limitation upon the concepts and principles of the present disclosure. As such, it will be appreciated that variations and modifications to the elements and their configuration and/or arrangement exist within the spirit and scope of one or more independent aspects as described.

One or more features and/or advantages of the application may be set forth in the following claims: 

1. A hydraulic torque wrench system comprising: a hydraulic torque wrench including an orientation sensor, and a controller having an electronic processor and a memory, the controller being configured to determine a sequence for the wrench to tighten a plurality of fasteners on an object, receive a first measurement signal from the orientation sensor, determine a first orientation value of the wrench based on the first measurement signal, compare the first orientation value to a first target orientation value associated with a first target orientation of the wrench for tightening a first fastener in the sequence, inhibit operation of the wrench in response to the first orientation value not being within a tolerance of the first target orientation value, and enable the wrench to tighten the first fastener in response to the first orientation value being within the tolerance of the first target orientation value.
 2. The hydraulic torque wrench system of claim 1, wherein the controller is further configured to activate an indicator to alert an operator that the plurality of fasteners is not being tightened in the sequence in response to the first orientation value not being within the tolerance of the first target orientation value.
 3. The hydraulic torque wrench system of claim 1, wherein the controller is further configured to after the first fastener is tightened, receive a second measurement signal from the orientation sensor, determine a second orientation value of the wrench based on the second measurement signal, compare the second orientation value to a second target orientation value associated with a second target orientation of the wrench for tightening a second fastener in the sequence, inhibit operation of the wrench in response to the second orientation value not being within the tolerance of the second target orientation value, and enable the wrench to tighten the second fastener in response to the second orientation value being within the tolerance of the second target orientation value.
 4. The hydraulic torque wrench system of claim 1, wherein the orientation sensor measures an orientation of the wrench with respect to one selected from a group consisting of gravity and Earth's magnetic field.
 5. The hydraulic torque wrench system of claim 1, wherein the orientation sensor measures rotational acceleration of the wrench with respect to three mutually orthogonal axes fixed in relation to the wrench.
 6. The hydraulic torque wrench system of claim 1, wherein the sequence in which the wrench should tighten the plurality of fasteners is stored in the memory of the controller.
 7. The hydraulic torque wrench system of claim 1, wherein the controller is further configured to activate an indicator to alert the operator to a fastener of the plurality of fasteners to be tightened next in the sequence.
 8. A method of tightening a plurality of fasteners with a hydraulic torque wrench, the hydraulic torque wrench including an orientation sensor and a controller having an electronic processor and a memory, the method comprising: determining, by the controller, a sequence in which the wrench should tighten the plurality of fasteners; receiving, by the controller, a first measurement signal from the orientation sensor; determining, by the controller, a first orientation value of the wrench based on the first measurement signal; comparing, by the controller, the first orientation value to a first target orientation value associated with a first target orientation of the wrench for tightening a first fastener in the sequence; inhibiting, by the controller, operation of the wrench in response to the first orientation value not being within a tolerance of the first target orientation value; and enabling, by the controller, the wrench to tighten the first fastener in response to the first orientation value being within the tolerance of the first target orientation value.
 9. The method of claim 8, further comprising activating, by the controller, an indicator to alert an operator that the plurality of fasteners is not being tightened in the sequence in response to the first orientation value not being within the tolerance of the first target orientation value.
 10. The method of claim 8, further comprising: receiving, by the controller, a second measurement signal from the orientation sensor after the first fastener is tightened; determining, by the controller, a second orientation value of the wrench based on the second measurement signal; comparing, by the controller, the second orientation value to a second target orientation value associated with a second target orientation of the wrench for tightening a second fastener in the sequence; inhibiting, by the controller, operation of the wrench in response to the second orientation value not being within the tolerance of the second target orientation value; and enabling, by the controller, the wrench to tighten the second fastener in response the second orientation value being within the tolerance of the second target orientation value.
 11. The method of claim 8, wherein receiving, by the controller, a first measurement signal includes receiving, by the controller, a first measurement signal measured by the orientation sensor with respect to one selected from a group consisting of gravity and Earth's magnetic field.
 12. The method of claim 8, wherein receiving, by the controller, a first measurement signal includes receiving, by the controller, a first measurement signal measured by the orientation sensor with respect to three mutually orthogonal axes fixed in relation to the wrench.
 13. The method of claim 8, further comprising storing in the memory the sequence in which the wrench should tighten the plurality of fasteners.
 14. The method of claim 8, further comprising, activating, by the controller, an indicator to alert the operator to the fastener of the plurality of fasteners to be tightened next in the sequence.
 15. A method of tightening a plurality of fasteners with a hydraulic torque wrench, the hydraulic torque wrench including an orientation sensor and a controller having an electronic processor and a memory, the method comprising: determining, by the controller, a sequence in which the wrench should tighten the plurality of fasteners; receiving, by the controller, a first measurement signal from the orientation sensor; determining, by the controller, a first orientation value of the wrench based on the first measurement signal; comparing, by the controller, the first orientation value to a first target orientation value associated with a first target orientation of the wrench for tightening a first fastener in the sequence; activating, by the controller, an indicator to alert an operator that the plurality of fasteners is not being tightened in the sequence in response to the first orientation value not being within a tolerance of the first target orientation value; and enabling, by the controller, the wrench to tighten the first fastener in response the first orientation value being within the tolerance of the first target orientation value.
 16. The method of claim 15, further comprising inhibiting, by the controller, operation of the wrench in response to the first orientation value not being within the tolerance of the first target orientation value.
 17. The method of claim 15, further comprising: receiving, by the controller, a second measurement signal from the orientation sensor after the first fastener is tightened; determining, by the controller, a second orientation value of the wrench based on the second measurement signal; comparing, by the controller, the second orientation value to a second target orientation value associated with a second target orientation of the wrench for tightening a second fastener in the sequence; activating, by the controller, an indicator to alert an operator that the plurality of fasteners is not being tightened in the sequence in response to the second orientation value not being within the tolerance of the second target orientation value; and enabling, by the controller, the wrench to tighten the second fastener in response to the second orientation value being within the tolerance of the second target orientation value.
 18. The method of claim 15, wherein receiving, by the controller, a first measurement signal includes receiving, by the controller, a first measurement signal measured by the orientation sensor with respect to one selected from a group consisting of gravity and Earth's magnetic field.
 19. The method of claim 15, wherein receiving, by the controller, a first measurement signal includes receiving, by the controller, a first measurement signal measured by the orientation sensor with respect to three mutually orthogonal axes fixed in relation to the wrench.
 20. The method of claim 15, further comprising, activating, by the controller, an indicator to alert the operator to the fastener of the plurality of fasteners to be tightened next in the sequence.
 21. A hydraulic torque wrench system comprising: a hydraulic torque wrench including an orientation sensor, and a controller having an electronic processor and a memory, the controller being configured to determine a sequence for the wrench to tighten a plurality of fasteners on an object, receive a first acceleration measurement signal from the orientation sensor, determine a first acceleration value of the wrench based on the first acceleration measurement signal, compare the first acceleration value to a target acceleration value associated with moving the wrench from a first fastener to a second fastener, inhibit operation of the wrench in response to the first orientation value not being within a tolerance of the first target acceleration value, and enable the wrench to tighten the second fastener in response to the first acceleration value being within the tolerance of the first target acceleration value.
 22. The hydraulic torque wrench system of claim 21, wherein the controller is further configured to determine the first target acceleration value when the wrench is moved from the first fastener to the second fastener, and store the first target acceleration value in the memory.
 23. The hydraulic torque wrench system of claim 21, wherein the controller is further configured to activate an indicator to alert an operator that the plurality of fasteners is not being tightened in the sequence in response to the first acceleration value not being within the tolerance of the first target acceleration value.
 24. The hydraulic torque wrench system of claim 21, wherein the controller is further configured to after the second fastener is tightened, receive a second acceleration measurement signal from the orientation sensor, determine a second acceleration value of the wrench based on the second acceleration measurement signal, compare the second acceleration value to a second target acceleration value associated with moving the wrench from the second fastener to a third fastener, inhibit operation of the wrench in response to the second acceleration value not being within the tolerance of the second target acceleration value, and enable the wrench to tighten the third fastener in response to the second acceleration value being within the tolerance of the second target acceleration value.
 25. The hydraulic torque wrench system of claim 24, wherein the controller is further configured to determine the second target acceleration value when the wrench is moved from the second fastener to the third fastener and store the second target acceleration value in the memory.
 26. A method of tightening a plurality of fasteners with a hydraulic torque wrench, the hydraulic torque wrench including an orientation sensor and a controller having an electronic processor and a memory, the method comprising: determining, by the controller, a sequence in which the wrench should tighten the plurality of fasteners; receiving, by the controller, a first acceleration measurement signal from the orientation sensor; determining, by the controller, a first acceleration value of the wrench based on the first acceleration measurement signal; comparing, by the controller, the first acceleration value to a first target acceleration value associated with moving the wrench from a first fastener to a second fastener; inhibiting, by the controller, operation of the wrench in response to the first acceleration value not being within a tolerance of the first target acceleration value; and enabling, by the controller, the wrench to tighten the second fastener in response to the first acceleration value being within the tolerance of the first target orientation value.
 27. The method of claim 26, further comprising: determining, by the controller, the first target acceleration value when the wrench is moved from the first fastener to a second fastener; and storing, by the controller, the first target acceleration value in the memory.
 28. The method of claim 26, further comprising activating, by the controller, an indicator to alert an operator that the plurality of fasteners is not being tightened in the sequence in response to the first acceleration value not being within the tolerance of the first target acceleration value.
 29. The method of claim 26, further comprising: receiving, by the controller, a second acceleration measurement signal from the orientation sensor after the second fastener is tightened; determining, by the controller, a second acceleration value of the wrench based on the second acceleration measurement signal; comparing, by the controller, the second acceleration value to a second target acceleration value associated with moving the wrench from the second fastener to a third fastener; inhibiting, by the controller, operation of the wrench in response to the second acceleration value not being within the tolerance of the second target acceleration value; and enabling, by the controller, the wrench to tighten the third fastener in response to the second acceleration value being within the tolerance of the second target acceleration value.
 30. The method of claim 29, further comprising: determining, by the second controller, the second target acceleration value when the wrench is moved from the second fastener to the third fastener; and storing, by the controller, the second target acceleration value in the memory.
 31. A method of tightening a plurality of fasteners with a hydraulic torque wrench, the hydraulic torque wrench including an orientation sensor and a controller having an electronic processor and a memory, the method comprising: determining, by the controller, a sequence in which the wrench should tighten the plurality of fasteners; receiving, by the controller, a first acceleration measurement signal from the orientation sensor; determining, by the controller, a first acceleration value of the wrench based on the first acceleration measurement signal; comparing, by the controller, the first acceleration value to a first target acceleration value associated with moving the wrench from a first fastener to a second fastener; activating, by the controller, an indicator to alert an operator that the plurality of fasteners is not being tightened in the sequence in response to the first acceleration value not being within the tolerance of the first target acceleration value; and enabling, by the controller, the wrench to tighten the second fastener in response to the first acceleration value being within the tolerance of the first target orientation value.
 32. The method of claim 31, further comprising: determining, by the controller, the first target acceleration value when the wrench is moved from the first fastener to a second fastener; and storing, by the controller, the first target acceleration value in the memory.
 33. The method of claim 30, further comprising: receiving, by the controller, a second acceleration measurement signal from the orientation sensor after the second fastener is tightened; determining, by the controller, a second acceleration value of the wrench based on the second acceleration measurement signal; comparing, by the controller, the second acceleration value to a second target acceleration value associated with moving the wrench from the second fastener to a third fastener; activating, by the controller, an indicator to alert an operator that the plurality of fasteners is not being tightened in the sequence in response to the second acceleration value not being within the tolerance of the second target acceleration value; and enabling, by the controller, the wrench to tighten the third fastener in response to the second acceleration value being within the tolerance of the second target acceleration value.
 34. The method of claim 33, further comprising: determining, by the second controller, the second target acceleration value when the wrench is moved from the second fastener to the third fastener; and storing, by the controller, the second target acceleration value in the memory. 